Conventions
Lengths and positions are generally in machine units (mu): 1 mu = 1/254 in (0.1 mm). As INTEGER16, a position spans −3276.8 to +3276.7 mm.
CANopen
Section titled “CANopen”Rightline attachments generally implement these CiA specifications. Refer to the specification’s document for protocol details.
| Specification | Used for |
|---|---|
| CiA 301 | Object dictionary access by SDO; dynamically mappable PDOs; NMT; heartbeat; EMCY producer; store and restore parameters (0x1010, 0x1011). No device profile: 0x1000 is 0. |
| CiA 305 | LSS: node ID and bit rate assignment. |
| CiA 306 | EDS files (EDS version 4.0), published on each product’s object dictionary page. |
Error codes (bytes 0–1) use a CiA 301 standard code where one fits, otherwise 0xFF00. The
manufacturer-specific bytes are laid out the same way on every product:
| Byte | Content |
|---|---|
| 3 | Category |
| 4 | Error within the category |
| 5–7 | Private to Rightline; not decoded |